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dc.contributor.author
Gracia, Luis
dc.contributor.author
Garelli, Fabricio
dc.contributor.author
Sala, Antonio
dc.date.available
2017-08-02T22:14:52Z
dc.date.issued
2012-08
dc.identifier.citation
Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Integrated sliding-mode algorithms in robot tracking applications; Elsevier; Robotics And Computer-integrated Manufacturing; 29; 1; 8-2012; 59-62
dc.identifier.issn
0736-5845
dc.identifier.uri
http://hdl.handle.net/11336/21807
dc.description.abstract
An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. The proposed method only requires a few program lines and simplifies the robot user interface since it directly deals with the fulfillment of the constraints to find a feasible solution for the robot trajectory tracking in a short computation time. The proposed approach is evaluated in simulation on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Elsevier
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Sliding Mode
dc.subject
Robot Control
dc.subject
Collision Avoidance
dc.subject.classification
Ingeniería de Sistemas y Comunicaciones
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Integrated sliding-mode algorithms in robot tracking applications
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2017-07-28T15:03:53Z
dc.journal.volume
29
dc.journal.number
1
dc.journal.pagination
59-62
dc.journal.pais
Países Bajos
dc.journal.ciudad
Amsterdam
dc.description.fil
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
dc.description.fil
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
dc.description.fil
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
dc.journal.title
Robotics And Computer-integrated Manufacturing
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1016/j.rcim.2012.07.007
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0736584512000919


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